Systems and methods for spraying an agricultural fluid on foliage

ABSTRACT

A system includes a fluid supply line, a plurality of nozzle assemblies positioned and oriented to spray portions of a target, and a plurality of electrically actuated valve assemblies configured to control fluid flow to the nozzle assemblies. The system also includes a controller connected in communication with the plurality of electrically actuated valve assemblies and configured to individually actuate the valve assemblies between a closed position and an open position. The controller is configured to receive an orientation of each nozzle assembly relative to the target and determine a duty cycle of each valve assembly based on the orientation of the respective nozzle assembly. The controller is configured to actuate each valve assembly based on the respective orientation to provide a desired fluid characteristic of the fluid emitted from the respective nozzle assembly.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/272,858, filed on Feb. 11, 2019, which claims priority to U.S.Provisional Patent Application Ser. No. 62/629,161, filed on Feb. 12,2018, the disclosures of which are hereby incorporated by reference intheir entirety.

BACKGROUND

The present disclosure relates generally to fluid application systems,and particularly, to systems for spraying an agricultural fluid onfoliage.

In the agricultural industry, agricultural fluids or agrochemicals arecommonly applied to plants for a variety of reasons. For example, liquidfertilizers, pesticides, and other agrochemicals may be applied toplants or crops after planting for crop management. Agricultural fluidsinclude, without limitation, growth promotors, growth regulators, sprayfertilizers, pesticides, insecticides, and/or fungicides.

For example, agricultural fluids may be applied to the foliage of plantsin groves or orchards. The groves or orchards may include plants such asvines and trees that have an uneven distribution of foliage. On someplants, the foliage may be concentrated anywhere along the height of theplant. For example, the foliage may be concentrated at the top of theplant and may be relatively sparse at the base of the plant. Inaddition, the plants may be different sizes and be shaped irregularly.Accordingly, it may be difficult to apply the fluid throughout thefoliage in an even manner.

Typically, systems for applying agricultural fluids to foliage include afluid supply line (e.g., a manifold or boom pipe), and a plurality ofnozzle assemblies that receive fluid from the fluid supply line forapplying the fluid to a field. The systems may also include a fan orblower to provide airflow that carries the agricultural fluid towardsthe foliage. In prior systems, the spray tip or orifice of each of thenozzle assemblies was selected based on variations in the foliage towhich the fluid was being applied. Spray tips or orifices were selectedbased on the foliage density, the desired application rate, and thecurrent configuration of the nozzle assemblies relative to the foliage.However, calculations needed to determine appropriate spray tips ororifices are often difficult to perform accurately in the field.Accordingly, operators may be prone to estimate or guess at least someof the factors for determining proper nozzle adjustment. Errors made inthe calculations and/or inaccurate estimates may reduce theeffectiveness of the adjustments and may even exacerbate theinefficiencies of the spray process. Moreover, manually interchangingspray tips or orifices on each nozzle assembly to produce a desiredspray pattern or characteristic increases the time required to perform aspraying operation.

At least some known systems include sensors that detect foliage to allowthe system to be controlled based on the detected foliage. However, suchsystems can only control the system based on a range of operatingconditions for groups of nozzle assemblies and may not be able to adjustthe nozzle assemblies to accommodate variations in foliation. Forexample, sometimes, all nozzles within a group may not be required to beopen. As a result, such systems may underspray and/or overspray thefoliage even when utilizing the sensors. In addition, the systems mayincrease the time required to spray the foliage because the controllerperforms calculations based on the sensor readings during operation ofthe system.

Accordingly, a foliage spray system that is capable of determiningdesired nozzle or valve operating parameters based on the position ofthe nozzles relative to the foliage is particularly useful.

BRIEF SUMMARY

In one aspect, a system for applying agricultural fluid to a targetincludes a fluid supply line connected to a fluid supply and a pluralityof nozzle assemblies connected in fluid communication with the fluidsupply line. The nozzle assemblies are positioned and oriented to sprayportions of the target. The system also includes a plurality ofelectrically actuated valve assemblies configured to control fluid flowto the nozzle assemblies. Each valve assembly of the plurality ofelectrically actuated valve assembly is connected in fluid communicationbetween the fluid supply line and a corresponding one of the pluralityof nozzle assemblies to control fluid flow through the respective nozzleassembly. The system further includes a controller connected incommunication with the plurality of electrically actuated valveassemblies and configured to individually actuate the valve assembliesbetween a closed position and an open position. The controller isconfigured to receive an orientation of each nozzle assembly relative tothe target and determine a duty cycle of each valve assembly based onthe orientation of the respective nozzle assembly. The controller isconfigured to actuate each valve assembly based on the respectiveorientation to provide a desired fluid characteristic of the fluidemitted from the respective nozzle assembly.

Various refinements exist of the features noted in relation to theabove-mentioned aspects. Further features may also be incorporated inthe above-mentioned aspects as well. These refinements and additionalfeatures may exist individually or in any combination. For instance,various features discussed below in relation to any of the illustratedembodiments may be incorporated into any of the above-described aspects,alone or in any combination.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic end view of an example fluid application systemfor spraying foliage;

FIG. 2 is a schematic view of the fluid application system adjacentfoliage of a plant;

FIGS. 3-7 are views of an example graphical user interface of a portableelectronic device of the fluid application system;

FIG. 8 is a flow diagram of an example method of applying agriculturalfluid to foliage; and

FIGS. 9 and 10 are views of an example graphical user interface for usewith the fluid application system shown in FIG. 1 .

Unless otherwise indicated, the drawings provided herein are meant toillustrate features of embodiments of the disclosure. These features arebelieved to be applicable in a wide variety of systems comprising one ormore embodiments of the disclosure. As such, the drawings are not meantto include all conventional features known by those of ordinary skill inthe art to be required for the practice of the embodiments disclosedherein.

DETAILED DESCRIPTION

Systems and methods disclosed herein facilitate application ofagricultural fluids to plants, particularly in orchards or groves. Forexample, embodiments of the systems and methods facilitate dispensingfluid towards foliage of a plant according to a relative amount ordensity of the foliage and orientation of the nozzle assembliesdispensing the fluid. Particular embodiments of the systems and methodsdisclosed herein enable a user to capture an image of a spray apparatusadjacent a plant (e.g., a tree or vine in an orchard or grove), andidentify a relative position and orientation of each nozzle assembly onthe spray apparatus. Systems of the present disclosure are configured todetermine a relative overlap amount of a spray path projection of eachnozzle assembly and the foliage of the plant in the image, and determinean operating parameter (e.g., a duty cycle) of each valve assembly basedon the relative overlap amount of the corresponding nozzle assembly. Insome embodiments, a user identifies the foliage overlap amount of eachnozzle assembly's spray path projection in the image. In otherembodiments, systems of the present disclosure may be configured toautomatically determine the overlap amount using image recognitionsoftware or techniques. By determining the operating parameter of eachvalve assembly on a spray apparatus based on relative overlap amountsbetween the associated nozzle assembly's spray path projection andfoliage to which fluid is being applied, the systems of the presentdisclosure facilitate improving the effectiveness and reducing the timeof agricultural spraying operations.

FIG. 1 is a schematic end view of an example fluid application system,designated in its entirety by the reference number 10. In the exampleembodiment, fluid application system 10 includes a spray apparatus 12, acontroller 14, and a portable electronic device 16. Unless otherwisenoted, directions, such as horizontal and vertical, refer to theorientation of the fluid application system 10 shown in FIG. 1 .

Spray apparatus 12 includes a manifold 18, a fluid supply or reservoir20, a plurality of nozzle assemblies 22, a plurality of valve assemblies24, a frame 26, and a fan or blower 28. Spray apparatus 12 is supportedon a chassis including a plurality of wheels that allow spray apparatus12 to be moved along the ground. Spray apparatus 12 may be coupled to avehicle configured to move spray apparatus 12 along the ground. Sprayapparatus 12 may receive mechanical and/or electrical power from thevehicle and/or may have its own power source, such as an engine. Infurther embodiments, spray apparatus 12 may be self-propelled and/orconfigured to operate at a fixed location.

In the example, spray apparatus 12 is an air blast sprayer in whichfluid emitted from nozzle assemblies 22 is propelled by airflowgenerated by fan 28. Accordingly, fluid application system 10 may beused as an agricultural sprayer, e.g., an orchard sprayer, for sprayingcrops. Such crops may define a canopy at a distance above the ground. Inother embodiments, spray apparatus 12 may have any configurationsuitable for spraying fluid onto plants. For example, in someembodiments, spray apparatus 12 may be configured as, withoutlimitation, an air blast sprayer, an herbicide sprayer, a vineyardsprayer, an over-the-row boom sprayer, a fan sprayer, a vertical ortower sprayer, and a small batch sprayer.

Further, in the example embodiment, fluid reservoir 20 holds a quantityof material 30, such as, and without limitation, a liquid, a mixture ofliquid and powder, and/or other material, to be dispensed by fluidapplication system 10, for example, onto a crop. In some embodiments,material 30 may be water or an agrochemical such as an herbicide or apesticide, and may be dispensed by nozzle assemblies 22 onto, forexample, the crop and/or the ground. The quantity of material 30 held influid reservoir 20 generally flows through manifold 18 to nozzleassemblies 22. For example, a pump assembly 50 may be configured toselectively draw a flow of material 30 from reservoir 20 through aninlet conduit and pressurize the flow of material 30. The terms “pipe”and “conduit,” as used herein, include any type of tube made of anysuitable material such as metal, rubber, or plastic, for channelingmaterial 30 therethrough.

Manifold 18 includes a fluid supply line or pipe 32 connected to fluidreservoir 20 and supported by frame 26. Manifold 18 has a length 34 andnozzle assemblies 22 are positioned along length 34 of manifold 18. Inthe example, manifold 18 is curved and nozzle assemblies 22 are spacedcircumferentially along manifold 18 and are positioned on manifold 18such that fluid emitted from nozzle assemblies 22 is directed radiallyoutward from spray apparatus 12. In other embodiments, spray apparatus12 may include any manifold 18 that enables spray apparatus 12 tooperate as described. In yet other embodiments, nozzle assemblies 22 maybe mounted to frame 26 at suitable locations and orientations to producea desired spray pattern. In such embodiments, nozzle assemblies 22 maybe connected to manifold 18 by suitable flow conduits, such as hoses orpipes.

In the example embodiment, frame 26 is cylindrical and extends about fan28. In addition, frame 26 defines a central inlet 36 and at least oneoutlet 38 extending circumferentially about fan 28. Fan 28 is configuredto rotate and, thereby generate an airstream 40. Specifically, airstream40 is drawn into inlet 36 and redirected radially outward from fan 28through outlet 38. Nozzle assemblies 22 are positioned proximate outlet38 within the path of airstream 40. Accordingly, fluid emitted fromnozzle assemblies 22 is carried by airstream 40. Notably, the directionand orientation of nozzle assemblies 22 relative to the direction ofairstream 40 affects the fluid flow characteristics of fluid carried byairstream 40. As described herein, nozzle assemblies 22 may be operatedto provide desired fluid flow characteristics based on the orientationand position of nozzle assemblies 22. For example, fluid applicationsystem 10 may facilitate control of characteristics of the fluid, e.g.,pressure, flow rate, and droplet size, based on the orientation andposition of nozzle assemblies 22. As a result, fluid application system10 may facilitate providing desired application rates to the cropsadjacent the ground and in the canopy.

In the example embodiment, each nozzle assembly 22 includes a nozzlebody and a spray nozzle 42. Spray nozzle 42 may have any suitable nozzleconfiguration known in the art, for example, and without limitation,spray nozzle 42 may include a spray tip (not shown), such as a flat fantip, cone tip, straight stream tip and/or any other suitable spray tipthat enables nozzle assembly 22 to function as described herein.Similarly, valve assembly 24 may generally have any suitable valveconfiguration known in the art, for example, and without limitation, alatching solenoid valve, 2WNC solenoid valve, pilot actuated solenoidvalve, flipper solenoid valve, and/or the like.

In the example embodiment, valve assembly 24 is a direct acting solenoidvalve that includes an actuator configured to pulse with a timing,duration, frequency, and duty cycle determined by controller 14. In someembodiments, the pulse timing, duration, and/or frequency are suitableto reduce dynamic effects of pulsing on the upstream system pressure andflow, therefore creating a controlled variable resistance to flow. Inalternative embodiments, valve assembly 24 may be pneumatically orhydraulically actuated. The term “duty cycle,” as used herein, refers tothe cycle of operation of the valve assembly operating intermittentlyrather than continuously and includes the percentage of time the valveassembly is open divided by the total operation time. The duty cyclecontrols the flow rate or emission rate of material 30 through nozzleassembly 22 in a rapid on/off manner. Each valve assembly 24 isconnected in fluid communication between the fluid supply line 32 and acorresponding one of the plurality of nozzles assemblies 22 to controlfluid flow through the respective nozzle assembly. In some embodiments,valve assembly 24 is configured to be mounted to and/or integratedwithin a portion of spray nozzle 42.

In one embodiment, controller 14 is configured to regulate the timingand duration of valve assembly 24 to control the phasing between nozzlesassemblies 22 to facilitate reducing harmonics and/or vibrations ofmanifold 18. For example, the phasing and or timing of nozzle assemblies22 can be regulated to facilitate reducing and/or eliminating waterhammering in fluid supply line 32. The phrase “water hammering” as usedherein includes a sudden change in flow of material 30, which can resultin shock waves propagating through fluid application system 10. Flowchanges can occur due to operation of nozzles assemblies 22, startingand stopping of a pump assembly, and/or directional changes caused byfittings between nozzles assemblies 22 and manifold 18, for example.

In one particular embodiment, valve assembly 24 may be configured thesame as or similar to the valves disclosed in U.S. Pat. No. 9,435,458(the '458 patent), filed on Mar. 2, 2012, and entitled “ElectricallyActuated Valve for Control of Instantaneous Pressure Drop and CyclicDurations of Flow,” which is incorporated by reference herein in itsentirety for all purposes. Specifically, the '458 patent discloses asolenoid valve in which the valve poppet is configured to be pulsed suchthat the cyclic durations of the poppet control the average flow ratethrough the valve. For example, the valve may be operated with apulse-width modulation, in which the poppet moves from a sealed positionto an open position relative to the valve inlet and/or valve outlet andthe duty cycle of the pulse controls the average flow rate.Additionally, the pressure drop across the valve may be controlledduring each pulse of the poppet by regulating the position to which thepoppet is moved relative to the valve inlet and/or the valve outlet. Forinstance, the displacement of the poppet may be regulated such that thevalve is partially opened during each pulse.

In the example embodiment, spray nozzle 42 includes a nozzle bodyportion, which receives material 30 flowing through fluid supply line32, and a nozzle head attached to and/or formed integrally with thenozzle body portion. The nozzle head is configured for emitting material30 from nozzle assembly 22 onto the crop and/or the ground.

In the illustrated embodiment, valve assemblies 24 are coupled incommunication with controller 14. In particular, each actuator of eachvalve assembly 24 is coupled in communication with controller 14.Controller 14 controls one or more operating parameters of each valveassembly 24, for example, and without limitation, a timing, a duration,a duty cycle percentage, and/or a pulse frequency of the valve assembly.In one embodiment, valve assembly 24 has an operational frequency in therange of between and including about 0 Hertz (Hz) and about 15 Hz, andcan have a duty cycle in the range between and including 0% to 100%.

In one particular embodiment, controller 14 may be configured the sameas or similar to the controller disclosed in U.S. Pat. No. 8,191,795(the '795 patent), filed on Jul. 31, 2009, and entitled “Method andSystem to Control Nozzles While Controlling Overall System Flow andPressure,” which is incorporated by reference herein in its entirety forall purposes. Specifically, the '795 patent discloses using a “flowfactor” for individually scaling fluid flow from each valve assembly 24.For example, the controller is configured to control the rate at whichthe liquid agricultural product is emitted from each valve based uponthe calculated flow factor for each valve.

As described above, in the example embodiment, controller 14 isconfigured to regulate the overall application rate of material 30 byfluid application system 10 to achieve predetermined flow and pressureobjectives while regulating or controlling the individual flow of eachindividual nozzle assembly 22 to achieve a specific distribution ofmaterial 30 across the plurality of nozzle assemblies 22. Moreparticularly, controller 14 is configured to receive various input data,including, for example, and without limitation, flow rate data, a targetapplication rate for material 30 (e.g., gallons per acre), nozzledroplet spectra data, a fluid pressure within fluid supply line 32, anda ground speed at which fluid application system 10 is being movedacross a surface. Controller 14 may be configured to receive the targetapplication or flow rate information based on, e.g., a user input targetapplication rate input at a user input device (e.g., portable electronicdevice 16).

In some embodiments, for example, as the ground speed of spray apparatus12 increases, controller 14 increases a flow rate of material 30 throughfluid application system 10 to maintain the target application rate.Similarly, as the ground speed of spray apparatus 12 decreases,controller 14 decreases a flow rate of material 30 through fluidapplication system 10 to maintain the target application rate.

Controller 14 is configured to control at least one operating parameterof each of the plurality of valve assemblies 24. For example, controller14 is configured to control a duty cycle of each valve assembly 24. Inalternative embodiments, controller 14 may be configured to controloperating parameters of any components of fluid spray apparatus 12.

Portable electronic device 16 is communicatively coupled to controller14 and is configured to send signals to and receive signals fromcontroller 14. In the example, portable electronic device 16 andcontroller 14 are connected by a wireless connection. In someembodiments, portable electronic device 16 and controller 14 may beconnected by a wired connection. In other embodiments, portableelectronic device 16 and controller 14 may be connected in any suitablemanner. For example, in some embodiments, at least one relay or datastorage device may be used to transfer information between controller 14and portable electronic device 16.

In the example, portable electronic device 16 and controller 14 areshown as separate devices. In other embodiments, portable electronicdevice 16 and controller 14 may be incorporated in a single device. Forexample, portable electronic device 16 and controller 14 may be includedin a computing device mounted to a portion of fluid application system10.

Portable electronic device 16 may be any suitable computing device. Forexample, portable electronic device 16 may be, without limitation, atablet computing device, a cellular telephone device, a laptop computingdevice, and any other suitable computing device. Suitably, the portableelectronic device 16 is a handheld device.

In the example embodiment, portable electronic device 16 includes a userinterface 44. User interface 44 is configured to present or displayinformation to a user of portable electronic device 16, and to receiveuser input, for example, relating to operation of fluid applicationsystem 10. In some embodiments, user interface 44 includes apresentation interface or display screen (e.g., a monitor, LCD screen,or touch screen) that presents or displays information to a user ofportable electronic device 16, and an input device (e.g., a keyboard, amouse, or a touch screen) that receives the user input. In someembodiments, such as the illustrated embodiment, the presentationinterface and the input device are integrated into a single device, suchas a touch screen. In some embodiments, user interface 44 is configuredto generate or display a graphical user interface for presentinginformation to a user and receiving user input. The graphical userinterface may be implemented as a downloadable application and/or awebsite. In such embodiments, users of fluid application system 10 mayuse their own, individual portable electronic devices 16 (e.g.,smartphones or tablets) with fluid application system 10, rather than adedicated electronic device for fluid application system 10.

In the illustrated embodiment, portable electronic device 16 alsoincludes a camera 46 configured to capture one or more images, forexample, of spray apparatus 12 and foliage and/or plants. Camera 46 maybe any suitable camera capable of capturing images for display on userinterface 44 of portable electronic device 16. In the exampleembodiment, fluid application system 10 is compatible with any portableelectronic device 16 that includes user interface 44 and camera 46. Inother embodiments, fluid application system 10 is compatible withportable electronic devices that do not include camera 46.

Portable electronic device 16 is configured to generate or display atleast one image of foliage 48 and at least a portion of spray apparatus12. In particular, portable electronic device 16 is configured todisplay an image that includes foliage 48, and at least a portion ofspray apparatus 12, such as nozzle assemblies 22 or a portion of sprayapparatus 12 to which nozzle assemblies 22 are mounted. As describedherein, portable electronic device 16 is configured to identify orreceive user input identifying the location and orientation of nozzleassemblies 22 and relate projected spray paths of nozzle assemblies 22to foliage 48 using the image. In addition, at least one of controller14 and portable electronic device 16 is configured to determine at leastone operating parameter of valve assemblies 24 based on the image. Inother embodiments, portable electronic device 16 may be configured togenerate any suitable images. For example, in some embodiments, aplurality of images is overlaid to determine a relationship betweenspray apparatus 12 (e.g., spray path projections of nozzle assemblies22) and foliage 48.

Although certain functions, determinations, and/or calculations aredescribed herein as being performed by one of controller 14 and portableelectronic device 16, it should be understood that such functions,determinations, and/or calculations may be performed by eithercontroller 14 or portable electronic device 16, and further, that suchfunctions, determinations, and/or calculations may be distributedbetween controller 14 or portable electronic device 16.

FIG. 2 is a schematic view of fluid application system 10 adjacentfoliage 48 of a plant 54. Nozzle assemblies 22 (FIG. 1 ) are located andoriented to spray material 30 onto foliage 48. Spray path projections 56show the projected path of material 30 from each nozzle assembly 22. Asshown in FIG. 2 , at least some spray path projections 56 overlap aportion of foliage 48 by an overlap amount 58. As described herein, theoverlap amount 58 of spray path projections 56 may be used to determinea relative amount of fluid to be dispensed from each nozzle assembly 22for application to foliage 48. As shown in FIG. 2 , some spray pathprojections 56 may not overlap foliage 48.

With reference to FIGS. 1 and 2 , portable electronic device 16 mayidentify the location and orientation of nozzle assemblies 22 on theimage and generate spray path projections 56 based on the location andorientation of nozzle assemblies 22. In some embodiments, the locationand orientation of nozzle assemblies 22 is input by a user, for example,using user interface 44. In other embodiments, controller 14 and/orportable electronic device 16 may identify the position and/ororientation of nozzle assemblies 22 autonomously.

To facilitate determining spray path projections 56 and overlap amounts58, controller 14 and/or portable electronic device 16 may determine arelationship between the size and position of foliage 48 and the sizeand position of spray apparatus 12. For example, a height 60 of plant 54including foliage 48 may be determined based on a known dimension ofspray apparatus 12, such as a width. The dimension of spray apparatus 12may be input into portable electronic device 16 by a user. The relativepositions of spray apparatus 12 and foliage 48 may be used to increasethe accuracy of the determined spray path projections 56 and overlapamounts 58.

At least one of controller 14 and portable electronic device 16 isconfigured to determine an operating parameter of valve assemblies 24based on spray path projections 56 and overlap amounts 58 in the image.For example, a duty cycle of each valve assembly 24 may be determinedbased on spray path projection 56 and a relative overlap amount 58 ofthe nozzle assembly 22 corresponding to valve assembly 24. In oneembodiment, for example, the lengths of all overlap amounts 58 may besummed to determine a total overlap amount of all spray path projections56, and each individual overlap amount 58 may be divided by the totaloverlap amount to determine a relative or normalized overlap amount foreach nozzle assembly 22. The relative overlap amount may be used todetermine a duty cycle for the valve assembly 24 that corresponds to therespective nozzle assembly 22. The relative overlap amount may beproportional to the duty cycle and/or may be multiplied by a ratio todetermine the operating duty cycle. In some embodiments, portableelectronic device 16 is configured to determine the operating parameterfor each valve assembly 24 and communicate the operating parameter tocontroller 14, which controls operation of each valve assembly 24according to the determined operating parameter. In other embodiments,controller 14 determines the operating parameter for each valve assembly24 based on information received from portable electronic device 16,such as the position and orientation of nozzle assemblies 22 and theoverlap amount 58 of each nozzle assembly 22. In yet other embodiments,the operating parameter for each valve assembly 24 may be determined inany suitable manner.

In this embodiment, once the operating parameters for valve assemblies24 are determined, the operating parameters remain fixed duringapplication of fluid to a row of plants or to an entire field. In otherembodiments, one or more operating parameters of valve assemblies 24 maybe varied in real time based on foliage 48 as the spray apparatus 12travels along a row or through a field.

FIGS. 3-7 are views of an example graphical user interface 100 that maybe displayed on user interface 44 of portable electronic device 16(shown in FIG. 1 ). Graphical user interface 100 includes a series ofwindows 102, 104, 106, 108 that allow a user to receive and inputinformation. Graphical user interface 100 may be hosted on a website(e.g., either locally on controller 14 or accessible via the Internet)that allows a user to access graphical user interface 100 using anyportable electronic device 16 (shown in FIG. 1 ) that is connected tothe Internet and/or controller 14. In other embodiments, graphical userinterface 100 may be at least partially stored (e.g., as computerexecutable instructions or software) on portable electronic device 16.

In the example embodiment, graphical user interface 100 allows a user toinput values corresponding to fluid application system 10. For example,window 102 includes a plurality of input fields that allows a user toinput physical characteristics of fluid application system 10 such as,without limitation, a specific gravity of material 30 (shown in FIG. 1 )to be applied, a size of valve assemblies 24, a size of nozzleassemblies 22, and a dimension of manifold 18 (“diameter of sprayer”).In other embodiments, user interface 100 may receive any user input thatallows fluid application system 10 to operate as described herein.

In some embodiments, graphical user interface 100 may allow a user tostore and load a profile that includes pre-stored physicalcharacteristics of a spray apparatus, and allow users to repeatedly usethe same settings without reentering the values. In addition, graphicaluser interface 100 may include a default profile. In other embodiments,graphical user interface 100 may include any suitable profiles.

FIG. 4 illustrates window 102 with the input fields populated withexample values. For example a “Default” profile has been selected from aprofile selection drop down menu. The Default profile has the followingpre-stored values populated in the input fields of window 102:

specific gravity: 1

valve assembly size: 15.5

nozzle assembly size: 2

diameter of sprayer: 1

Referring to FIGS. 2 and 5 , in the example embodiment, once the inputfields of window 102 (shown in FIG. 4 ) are populated, graphical userinterface 100 generates an image in window 104 that includes aphotographic image of spray apparatus 12 and foliage 48, as well asgraphical elements overlaid on the photographic image to facilitateidentifying the position and orientation of nozzle assemblies 22, spraypath projections 56 of nozzle assemblies 22, and overlap amounts 58 ofspray path projections 56. The photographic image displayed in window104 may be captured by camera 46 or may be uploaded onto portableelectronic device 16. In the example embodiment, graphical userinterface 100 allows a user to access camera 46 and capture the image inreal time.

In the example embodiment, the graphical elements displayed or overlaidon the photographic image include cross-hairs 110 used to identify acentral location of spray apparatus 12, nozzle assembly markers 114 thatdisplay the location and orientation of nozzle assemblies 22 on sprayapparatus 12 based on user inputs, spray path projection lines 116 thatindicate the spray path projection 56 for each of the identified nozzleassemblies 22, and overlap amount lines 118 that indicate the overlapamount 58 for each spray path projection 56.

In the example embodiment, a user positions the cross-hairs 110 on anobject in the image, such as the central location of spray apparatus 12,by dragging and dropping the cross-hairs 110 to the desired location.The outer boundary or size of the cross-hairs 110 may be adjusted tomatch a size of the spray apparatus 12 displayed on the photographicimage using suitable input elements, such as graphical sliders thatadjust the horizontal and vertical dimensions of the cross-hairs 110.

Further, in the example embodiment, a user identifies nozzle assemblies22 on the photographic image by adding individual nozzle assemblies 22or groups of nozzle assemblies 22 (e.g., by using window 106 shown inFIG. 6 ) by entering one or more position values of each nozzle assemblyor group. For example, the position values of nozzle assemblies 22 maybe entered using graphical user interface 100 as radial ordinances ofthe nozzle assembly along the outer circumferential boundary ofcross-hairs 110. As the values for nozzle assemblies 22 are entered,window 104 generates and displays nozzle assembly markers 114 for eachnozzle assembly 22 to facilitate identifying where nozzle assemblies 22have already been identified. Additionally, in the example embodiment,window 104 includes a vertical slider bar 120 to facilitate adjustingthe position of individual nozzle assemblies 22. For example, once anozzle assembly marker 114 is displayed in window 104, thecircumferential position of the nozzle assembly marker 114 may beadjusted by sliding slider bar 120 up or down. In other embodiments,graphical user interface 100 may include other graphical input elementsto facilitate identifying and/or adjusting the position of nozzleassemblies 22.

Additionally, in the example embodiment, spray path projection lines 116are displayed on the photographic image in window 104 as the locationand orientation of each nozzle assembly 22 is identified on thephotographic image. In the example embodiment, each spray pathprojection line 116 emanates from a distal end of a corresponding nozzleassembly marker 114, and extends radially outward to the edges of thephotographic image.

Further, in the example embodiment, window 104 displays overlap amountlines 118 along spray path projection lines 116 that overlap a portionof foliage 48. Overlap amount lines 118 generally correspond to theoverlap amount 58 of spray path projection lines 116 and the foliagedisplayed on the photographic image. Overlap amount lines 118 aredisplayed with a contrasting appearance relative to spray pathprojection lines 116 such that overlap amount lines 118 can bedistinguished from spray path projection lines 116. In the exampleembodiment, overlap amount lines 118 are displayed in a color (e.g.,teal) that contrasts with the color in which the spray path projectionlines 116 are displayed (e.g., blue).

In some embodiments, overlap amount lines 118 are generatedautomatically by portable electronic device 16 using suitable imagerecognition software and/or techniques. In other embodiments, overlapamount lines are generated in response to user input. In the exampleembodiment, window 104 includes a horizontal slider bar 122 that allowsa user to adjust the starting point, the ending point, and the length ofeach overlap amount line 118.

As shown in FIG. 7 , additional operating parameters of fluidapplication system 10 may be input using window 108 of graphical userinterface 100. In the illustrated embodiment, for example, a travelspeed of spray apparatus 12 (“MPH), a desired application rate (“GPA”),the row spacing between adjacent rows of plants (“Row Spacing FT”), anda target or set point operating pressure of spray apparatus 12 (“PSI”)are input using window 108 of graphical user interface 100.

Based on the information input via graphical user interface 100,controller 14 (shown in FIG. 1 ) and/or portable electronic device 16(shown in FIG. 1 ) determines operating parameters of fluid applicationsystem 10 (shown in FIG. 1 ), such as an operating duty cycle for eachvalve assembly 24 (shown in FIG. 1 ). In some embodiments, the operatingvalues are sent to controller 14 (shown in FIG. 1 ) and controller 14operates fluid application system 10 (shown in FIG. 1 ) based on thedetermined values. In other embodiments, the operator adjusts nozzleassemblies 22 (shown in FIG. 1 ) and/or valve assemblies 24 (shown inFIG. 1 ) based on the values determined by portable electronic device 16(shown in FIG. 1 ).

FIG. 8 is a flow diagram of an example method 200 of applyingagricultural fluid to foliage. With reference to FIGS. 1, 2, and 8 ,method 200 includes positioning 202 spray apparatus 12 within a fieldincluding foliage 48 and generating or displaying 204, using portableelectronic device 16, at least one image that includes a portion ofspray apparatus 12 and foliage. The portion of spray apparatus 12displayed in image may include nozzle assemblies 22 or a portion ofspray apparatus 12 (e.g., manifold 18 or frame 26) to which nozzleassemblies 22 are mounted.

In addition, method 200 includes receiving 206 a user input thatidentifies at least one of a location and an orientation of each nozzleassembly 22 in the image. For example, nozzle assemblies 22 may beidentified by radial ordinances about a center cross hair that a userpositions on spray apparatus 12 in the image. In other embodiments, theuser may identify nozzle assemblies 22 in any suitable manner. Forexample, in some embodiments, a user may touch or tap the image toidentify locations of the nozzle assemblies 22, and slide or drag on atouch screen of portable electronic device 16 to indicate theorientations of nozzle assemblies 22 in the image. In some embodiments,nozzle assemblies 22 may not necessarily be located along a curve. Insuch embodiments, a Cartesian coordinate system may be used to identifythe locations and orientations of nozzle assemblies 22.

Method 200 also includes determining 208 a spray path projection foreach nozzle assembly 22 in the image based on the user input. Method 200further includes determining 210 an overlap amount 58 between the spraypath projection 56 and the foliage in the image for each nozzle assembly22. In addition, method 200 includes determining 212 an operatingparameter of each valve assembly based on the relative overlap amount ofthe spray path projection that corresponds to the nozzle assemblyassociated with the respective valve assembly. In some embodiments,determining 210 an overlap amount 58 includes determining a totaloverlap amount for the plurality of nozzle assemblies 22, anddetermining a relative or normalized overlap amount for each nozzleassembly by dividing the overlap amount of the respective nozzleassembly by the total overlap amount. The duty cycle of each valveassembly 24 may be determined based on the relative or normalizedoverlap amount of the nozzle assembly 22 that corresponds to therespective valve assembly 24.

In some embodiments, controller 14 controls fluid application system 10based on the determined operating parameter. For example, in someembodiments, controller 14 individually actuates the plurality of valveassemblies to obtain a desired flow characteristic of fluid emitted fromeach nozzle assembly. The operating parameter may be any suitableoperating parameter including, for example and without limitation, aduty cycle of each valve assembly 24.

FIGS. 9 and 10 are views of an example graphical user interface 300 thatmay be displayed on user interface 44 of portable electronic device 16(shown in FIG. 1 ). Graphical user interface 300 includes a series ofwindows 302, 304 that allow a user to receive and input information.Graphical user interface 300 may be hosted on a website (e.g., eitherlocally on controller 14 or accessible via the Internet) that allows auser to access graphical user interface 300 using any portableelectronic device 16 (shown in FIG. 1 ) that is connected to theInternet and/or on controller 14. In other embodiments, graphical userinterface 300 may be at least partially stored (e.g., as computerexecutable instructions or software) on portable electronic device 16.

In the example embodiment, graphical user interface 300 allows a user toinput values corresponding to fluid application system 10. For example,window 302 includes a plurality of input fields that allows a user toinput physical characteristics and/or operating parameters of fluidapplication system 10 (shown in FIG. 1 ) such as, without limitation, anumber of nozzle assemblies (shown in FIG. 1 ) of fluid applicationsystem 10, a size of nozzle assemblies 22 (“tip size”), a specificgravity of material 30 (shown in FIG. 1 ) to be applied, a frequency ofcontrol signals provided to valve assemblies 24 (“Frequency (Hz)”), adistance of nozzle assemblies 22 from a centerline 306, acircumferential spacing between nozzle assemblies 22, and a spraydiameter. Additional operating parameters of fluid application system 10may be input using window 108 of graphical user interface 300. In theillustrated embodiment, for example, a travel speed of spray apparatus12 (“speed (mph)”), a desired application rate (“Rate (gpa)”), the rowspacing between adjacent rows of plants (“Row Spacing (feet)”), and atarget or set point operating pressure of spray apparatus 12 (“Pressure(psi)”) are input using window 302 of graphical user interface 300. Inother embodiments, user interface 300 may receive any user input thatallows fluid application system 10 to operate as described herein.

In some embodiments, graphical user interface 300 may allow a user tostore and load a profile that includes pre-stored physicalcharacteristics and/or operating parameters of a spray apparatus, andallow users to repeatedly use the same settings without reentering thevalues. In addition, graphical user interface 300 may include a defaultprofile. In other embodiments, graphical user interface 300 may includeany suitable profiles.

In the example embodiment, once the input fields of window 302, 304 arepopulated, graphical user interface 300 generates a schematicrepresentation 308 in window 302, 304 that includes spray apparatus 12and spray path projections 56 of nozzle assemblies 22. The graphicaluser interface 300 automatically generates the schematic representation308 based on the information input by the user such as the number ofnozzle assemblies 22, the spacing between nozzle assemblies 22, and thedesired application rate.

Based on the information input via graphical user interface 300,controller 14 (shown in FIG. 1 ) and/or portable electronic device 16(shown in FIG. 1 ) determines operating parameters of fluid applicationsystem 10 (shown in FIG. 1 ), such as an operating duty cycle for eachvalve assembly 24 (shown in FIG. 1 ). In some embodiments, the operatingvalues are sent to controller 14 (shown in FIG. 1 ) and controller 14operates fluid application system 10 (shown in FIG. 1 ) based on thedetermined values. In other embodiments, the operator adjusts nozzleassemblies 22 (shown in FIG. 1 ) and/or valve assemblies 24 (shown inFIG. 1 ) based on the values determined by portable electronic device 16(shown in FIG. 1 ). The operating parameters may be saved as a profileand/or downloaded for use on controller 14 and/or portable electronicdevice 16 using the “Download Profile” button 310 in window 304.

As shown in FIG. 10 , user interface 300 may provide diagnosticinformation based on the input values and/or the determined operatingparameters. For example, window 304 includes diagnostic fields whichdisplay the duty cycle for each nozzle assembly 22 of fluid applicationsystem 10. In other embodiments, user interface 300 may provide anyoutputs that allow fluid application system 10 to operate as describedherein.

While, in some embodiments, the described methods and systems are usedto handle a fluid that is applied to agricultural fields, such as anherbicide or a pesticide, the described methods and systems may be usedfor handling any type of fluids, not just fluids for use in theagricultural industry.

Embodiments of the methods and systems described herein may moreefficiently apply materials, such as fluids, to surfaces compared toprior methods and systems. For example, the systems and methodsdescribed provide improved fluid application systems that increase theprecision and operating efficiency of foliage spray systems. Inaddition, the methods and systems reduce the time required to adjustoperating parameters, such as duty cycle, based on the position of anozzle assembly relative to foliage.

Some embodiments involve the use of one or more electronic or computingdevices. Such devices typically include a processor, processing device,or controller, such as a general purpose central processing unit (CPU),a graphics processing unit (GPU), a microcontroller, a reducedinstruction set computer (RISC) processor, an application specificintegrated circuit (ASIC), a programmable logic circuit (PLC), a fieldprogrammable gate array (FPGA), a digital signal processing (DSP)device, and/or any other circuit or processing device capable ofexecuting the functions described herein. The methods described hereinmay be encoded as executable instructions embodied in a computerreadable medium, including, without limitation, a storage device and/ora memory device. Such instructions, when executed by a processingdevice, cause the processing device to perform at least a portion of themethods described herein. The above examples are exemplary only, andthus are not intended to limit in any way the definition and/or meaningof the term processor and processing device.

When introducing elements of the present invention or the preferredembodiment(s) thereof, the articles “a”, “an”, “the” and “the” areintended to mean that there are one or more of the elements. The terms“comprising”, “including” and “having” are intended to be inclusive andmean that there may be additional elements other than the listedelements. Moreover, the use of “top”, “bottom”, “above”, “below” andvariations of these terms is made for convenience, and does not requireany particular orientation of the components.

As various changes could be made in the above without departing from thescope of the invention, it is intended that all matter contained in theabove description and shown in the accompanying drawings shall beinterpreted as illustrative and not in a limiting sense.

What is claimed is:
 1. A system for applying agricultural fluid to atarget, the system comprising: a fluid supply line connected to a fluidsupply; a plurality of nozzle assemblies connected in fluidcommunication with the fluid supply line, wherein the nozzle assembliesare positioned and oriented to spray portions of the target; a pluralityof electrically actuated valve assemblies configured to control fluidflow to the nozzle assemblies, wherein each valve assembly of theplurality of electrically actuated valve assemblies is connected influid communication between the fluid supply line and a correspondingone of the plurality of nozzle assemblies to control fluid flow throughthe respective nozzle assembly; and a controller connected incommunication with the plurality of electrically actuated valveassemblies and configured to individually actuate the valve assembliesbetween a closed position and an open position, wherein the controlleris configured to receive an orientation of each nozzle assembly relativeto the target and determine a duty cycle of each valve assembly based onthe orientation of the respective nozzle assembly, the controller beingconfigured to actuate each valve assembly based on the respectiveorientation to provide a desired fluid characteristic of the fluidemitted from the respective nozzle assembly.
 2. The system of claim 1,wherein the desired fluid characteristic comprises one of a spraypattern and a droplet size.
 3. The system of claim 1, wherein the nozzleassemblies are mounted to the system in a circular pattern.
 4. Thesystem of claim 1 further comprising a portable electronic deviceconnected in communication with the controller, the portable electronicdevice including a user interface and a camera, wherein the portableelectronic device is configured to: display, via the user interface, animage including at least a portion of the system and the target;receive, via the user interface, a user input that identifies at leastone of a location and an orientation of each of the plurality of nozzleassemblies on the image; and provide the orientation of each nozzleassembly to the controller.
 5. The system of claim 4, wherein the imageincludes the plurality of nozzle assemblies and the target, wherein theuser interface is configured to receive a user input that identifies acenter of the plurality of nozzle assemblies.
 6. The system of claim 4,wherein the portable electronic device is configured to receive a seconduser input relating to a physical characteristic or an operatingparameter of the system, the second user input including at least one ofthe following inputs: a size of nozzle assemblies, a specific gravity ofthe fluid, a frequency of control signals provided to the valveassemblies, and a physical dimension of the system.
 7. The system ofclaim 1 further comprising a portable electronic device connected incommunication with the controller and configured to send a signalrelating to at least one operating parameter of the system to thecontroller.
 8. The system of claim 7, wherein the at least one operatingparameter includes at least one of the following: a travel speed of thesystem, a desired application rate, a row spacing between adjacent rowsof plants, and a set point operating pressure of the fluid flowingthrough the system.
 9. The system of claim 1 further comprising aportable electronic device connected in communication with thecontroller, the portable electronic device including a user interface,wherein the portable electronic device is configured to receive, via theuser interface, at least one user input relating to a physicalcharacteristic or an operating parameter of the system.
 10. The systemof claim 9, wherein the user input includes at least one of thefollowing inputs: a specific gravity of the fluid, a valve sizeassociated with the valve assemblies, a nozzle size associated with thenozzle assemblies, and a physical dimension of the system.
 11. Thesystem of claim 1 further comprising a fan including at least oneoutlet, the plurality of nozzle assemblies being positioned along a pathof airflow from the at least one outlet, the fan being configured togenerate an airflow that is exhausted from the outlet to direct thefluid emitted from the nozzle assemblies towards the target.
 12. Thesystem of claim 1, further comprising a portable electronic deviceconnected in communication with the controller, the portable electronicdevice including a user interface and a camera, wherein the portableelectronic device is further configured to display, via the userinterface, a schematic representation of at least a portion of thesystem including the nozzle assemblies and spray path projections of thenozzle assemblies.
 13. The system of claim 1, wherein the plurality ofelectrically actuated valve assemblies comprise direct acting solenoidvalves, each solenoid valve including an actuator configured to pulsewith a timing, a duration, a frequency, and a duty cycle determined bythe controller.
 14. The system of claim 1, wherein the controller isconfigured to receive an input relating to at least one of flow ratedata, a target application rate, nozzle droplet spectra data, a fluidpressure within the fluid supply line, a ground speed at which thesystem is being moved across a surface, a number of the nozzleassemblies, a size of the nozzle assemblies, a specific gravity of thefluid, a frequency of control signals provided to the valve assemblies,a distance of the nozzle assemblies from a centerline, a circumferentialspacing between the nozzle assemblies, a spray diameter, or a rowspacing between adjacent rows of plants.
 15. The system of claim 1,wherein the controller is configured to receive an orientation of eachnozzle assembly relative to a center of the plurality of nozzleassemblies, wherein the orientation of each nozzle assembly includesradial ordinances about the center of the plurality of nozzleassemblies.
 16. A system for applying agricultural fluid to a target,the system comprising: a fluid supply line connected to a fluid supply;a plurality of nozzle assemblies connected in fluid communication withthe fluid supply line, wherein the nozzle assemblies are positioned andoriented to spray portions of the target; a plurality of electricallyactuated valve assemblies configured to control fluid flow to the nozzleassemblies, wherein each valve assembly of the plurality of electricallyactuated valve assemblies is connected in fluid communication betweenthe fluid supply line and a corresponding one of the plurality of nozzleassemblies to control fluid flow through the respective nozzle assembly;a controller connected in communication with the plurality ofelectrically actuated valve assemblies and configured to individuallyactuate the valve assemblies between a closed position and an openposition, wherein the controller is configured to receive an orientationof each nozzle assembly relative to the target and determine a dutycycle of each valve assembly based on the orientation of the respectivenozzle assembly, the controller being configured to actuate each valveassembly based on the respective orientation to provide a desired fluidcharacteristic of the fluid emitted from the respective nozzle assembly;a portable electronic device connected in communication with thecontroller, the portable electronic device including a user interfaceand a camera, wherein the portable electronic device is configured to:display, via the user interface, an image including at least a portionof the system and the target, wherein the image includes the pluralityof nozzle assemblies and the target; receive, via the user interface, auser input that identifies at least one of a location and an orientationof each of the plurality of nozzle assemblies on the image; provide theorientation of each nozzle assembly to the controller; and receive auser input that identifies a center of the plurality of nozzleassemblies.
 17. The system of claim 16, wherein the desired fluidcharacteristic comprises one of a spray pattern and a droplet size. 18.The system of claim 16, wherein the nozzle assemblies are mounted to thesystem in a circular pattern.
 19. The system of claim 16, wherein theportable electronic device is configured to receive a second user inputrelating to a physical characteristic or an operating parameter of thesystem, the second user input including at least one of the followinginputs: a size of the nozzle assemblies, a specific gravity of thefluid, a frequency of control signals provided to the valve assemblies,and a physical dimension of the system.
 20. The system of claim 16,wherein the portable electronic device is configured to send a signalrelating to at least one operating parameter of the system to thecontroller.
 21. The system of claim 20, wherein the at least oneoperating parameter includes at least one of the following: a travelspeed of the system, a desired application rate, a row spacing betweenadjacent rows of plants, and a set point operating pressure of the fluidflowing through the system.